Control Law Development and Implementation for a One Degree-of-Freedom Copter

In this work, the design, implementation, and analysis of a modified PID control-ler to stabilize the angular position of a 1-DOF copter system. A dynamic model of the system was obtained using classical mechanics. Simulation was performed to showcase the effectiveness of feedback control in stabilizing the system. The control algorithm was implemented on the ESP32 microcontroller. The controller performed well within the linear operating region of
$\pm\ 30^{\circ}$
but showed increased oscillations, settling times and overshoot beyond that range. However, the controller could not guarantee stabilization for hover angles beyond 50°.